altos: Make telescience-v0.1 build with new ao_data struct
authorKeith Packard <keithp@keithp.com>
Sun, 27 May 2012 23:44:01 +0000 (17:44 -0600)
committerKeith Packard <keithp@keithp.com>
Sun, 27 May 2012 23:44:01 +0000 (17:44 -0600)
Signed-off-by: Keith Packard <keithp@keithp.com>
src/avr/ao_adc_avr.c
src/avr/ao_pins.h
src/core/ao_log_telescience.c
src/core/ao_stdio.c
src/drivers/ao_science_slave.c
src/test/Makefile
src/test/ao_flight_test.c

index 4f6f0e6..928cd3e 100644 (file)
@@ -17,8 +17,8 @@
 
 #include "ao.h"
 
-volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
-volatile __data uint8_t                ao_adc_head;
+volatile __xdata struct ao_data        ao_data_ring[AO_DATA_RING];
+volatile __data uint8_t                ao_data_head;
 
 #ifdef TELESCIENCE
 const uint8_t  adc_channels[AO_LOG_TELESCIENCE_NUM_ADC] = {
@@ -92,14 +92,14 @@ ISR(ADC_vect)
        /* Must read ADCL first or the value there will be lost */
        value = ADCL;
        value |= (ADCH << 8);
-       ao_adc_ring[ao_adc_head].adc[ao_adc_channel] = value;
+       ao_data_ring[ao_data_head].adc.adc[ao_adc_channel] = value;
        if (++ao_adc_channel < NUM_ADC)
                ao_adc_start();
        else {
                ADCSRA = ADCSRA_INIT;
-               ao_adc_ring[ao_adc_head].tick = ao_time();
-               ao_adc_head = ao_adc_ring_next(ao_adc_head);
-               ao_wakeup((void *) &ao_adc_head);
+               ao_data_ring[ao_data_head].tick = ao_time();
+               ao_data_head = ao_data_ring_next(ao_data_head);
+               ao_wakeup((void *) &ao_data_head);
                ao_cpu_sleep_disable = 0;
        }
 }
@@ -113,18 +113,18 @@ ao_adc_poll(void)
 }
 
 void
-ao_adc_get(__xdata struct ao_adc *packet)
+ao_data_get(__xdata struct ao_data *packet)
 {
-       uint8_t i = ao_adc_ring_prev(ao_adc_head);
-       memcpy(packet, (void *) &ao_adc_ring[i], sizeof (struct ao_adc));
+       uint8_t i = ao_data_ring_prev(ao_data_head);
+       memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
 }
 
 static void
 ao_adc_dump(void) __reentrant
 {
-       static __xdata struct ao_adc    packet;
+       static __xdata struct ao_data   packet;
        uint8_t i;
-       ao_adc_get(&packet);
+       ao_data_get(&packet);
 #ifdef TELEPYRO
        printf("ADMUX:  %02x\n", ADMUX);
        printf("ADCSRA: %02x\n", ADCSRA);
@@ -137,7 +137,7 @@ ao_adc_dump(void) __reentrant
 #endif
        printf("tick: %5u",  packet.tick);
        for (i = 0; i < NUM_ADC; i++)
-               printf (" %2d: %5u", i, packet.adc[i]);
+               printf (" %2d: %5u", i, packet.adc.adc[i]);
        printf("\n");
 
 
index f2b40fb..850a08e 100644 (file)
 #define AO_TELESCIENCE_NUM_ADC 12
 
 struct ao_adc {
-       uint16_t        tick;           /* tick when the sample was read */
        uint16_t        adc[AO_TELESCIENCE_NUM_ADC];    /* samples */
 };
 
-#define AO_ADC_RING    16
+#define AO_DATA_RING   16
 
 #endif /* _AO_PINS_H_ */
index ae04528..002a10b 100644 (file)
@@ -20,7 +20,7 @@
 #include "ao_log.h"
 #include "ao_companion.h"
 
-static uint8_t ao_log_adc_pos;
+static uint8_t ao_log_data_pos;
 
 __code uint8_t ao_log_format = AO_LOG_FORMAT_TELESCIENCE;
 
@@ -62,20 +62,20 @@ ao_log_single(void)
                /* Write the whole contents of the ring to the log
                 * when starting up.
                 */
-               ao_log_adc_pos = ao_adc_ring_next(ao_adc_head);
+               ao_log_data_pos = ao_data_ring_next(ao_data_head);
                ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_DATA;
                while (ao_log_running) {
                        /* Write samples to EEPROM */
-                       while (ao_log_adc_pos != ao_adc_head) {
-                               ao_log_single_write_data.telescience.tick = ao_adc_ring[ao_log_adc_pos].tick;
-                               memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_adc_ring[ao_log_adc_pos].adc,
+                       while (ao_log_data_pos != ao_data_head) {
+                               ao_log_single_write_data.telescience.tick = ao_data_ring[ao_log_data_pos].tick;
+                               memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_data_ring[ao_log_data_pos].adc.adc,
                                       AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
                                ao_log_telescience_csum();
                                ao_log_single_write();
-                               ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
+                               ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
                        }
                        /* Wait for more ADC data to arrive */
-                       ao_sleep((void *) &ao_adc_head);
+                       ao_sleep((void *) &ao_data_head);
                }
                memset(&ao_log_single_write_data.telescience.adc, '\0', sizeof (ao_log_single_write_data.telescience.adc));
        }
index 9b4ea47..656b23c 100644 (file)
 #endif
 
 #define USE_SERIAL_STDIN (USE_SERIAL_0_STDIN + \
-                         USE_SERIAL_1_STDIN |  \
-                         USE_SERIAL_2_STDIN |  \
-                         USE_SERIAL_3_STDIN |  \
-                         USE_SERIAL_4_STDIN |  \
-                         USE_SERIAL_5_STDIN |  \
-                         USE_SERIAL_6_STDIN |  \
-                         USE_SERIAL_7_STDIN |  \
-                         USE_SERIAL_8_STDIN |  \
+                         USE_SERIAL_1_STDIN +  \
+                         USE_SERIAL_2_STDIN +  \
+                         USE_SERIAL_3_STDIN +  \
+                         USE_SERIAL_4_STDIN +  \
+                         USE_SERIAL_5_STDIN +  \
+                         USE_SERIAL_6_STDIN +  \
+                         USE_SERIAL_7_STDIN +  \
+                         USE_SERIAL_8_STDIN +  \
                          USE_SERIAL_9_STDIN)
 
 #define AO_NUM_STDIOS  (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN)
index a86b515..996e98d 100644 (file)
@@ -42,7 +42,7 @@ void ao_spi_slave(void)
                                  sizeof (ao_telescience_setup));
                break;
        case AO_COMPANION_FETCH:
-               ao_spi_slave_send((uint8_t *) &ao_adc_ring[ao_adc_ring_prev(ao_adc_head)].adc,
+               ao_spi_slave_send((uint8_t *) &ao_data_ring[ao_data_ring_prev(ao_data_head)].adc,
                                  AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
                break;
        case AO_COMPANION_NOTIFY:
index 3c2b873..1e54f5e 100644 (file)
@@ -13,10 +13,10 @@ clean:
 
 install:
 
-ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
+ao_flight_test: ao_flight_test.c ao_host.h ao_flight_mm.c ao_sample_mm.c ao_kalman.c altitude.h ao_kalman.h
        cc $(CFLAGS) -o $@ $<
 
-ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
+ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight_mm.c ao_sample_mm.c ao_kalman.c altitude.h ao_kalman.h
        cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $<
 
 ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kalman.c altitude.h ao_kalman.h
index 4a8625c..baf2ad1 100644 (file)
 
 #define AO_HERTZ       100
 
-#define AO_ADC_RING    64
-#define ao_adc_ring_next(n)    (((n) + 1) & (AO_ADC_RING - 1))
-#define ao_adc_ring_prev(n)    (((n) - 1) & (AO_ADC_RING - 1))
+#define HAS_ADC 1
+#define AO_DATA_RING   64
+#define ao_data_ring_next(n)   (((n) + 1) & (AO_DATA_RING - 1))
+#define ao_data_ring_prev(n)   (((n) - 1) & (AO_DATA_RING - 1))
 
 #define AO_M_TO_HEIGHT(m)      ((int16_t) (m))
 #define AO_MS_TO_SPEED(ms)     ((int16_t) ((ms) * 16))
@@ -38,7 +39,6 @@
  * One set of samples read from the A/D converter
  */
 struct ao_adc {
-       uint16_t        tick;           /* tick when the sample was read */
        int16_t         accel;          /* accelerometer */
        int16_t         pres;           /* pressure sensor */
        int16_t         pres_real;      /* unclipped */
@@ -54,6 +54,8 @@ struct ao_adc {
 #define __code
 #define __reentrant
 
+#include <ao_data.h>
+
 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 #define from_fix(x)    ((x) >> 16)
@@ -90,8 +92,8 @@ extern enum ao_flight_state ao_flight_state;
 #define FALSE 0
 #define TRUE 1
 
-struct ao_adc ao_adc_ring[AO_ADC_RING];
-uint8_t ao_adc_head;
+volatile struct ao_data ao_data_ring[AO_DATA_RING];
+volatile uint8_t ao_data_head;
 int    ao_summary = 0;
 
 #define ao_led_on(l)
@@ -110,7 +112,7 @@ enum ao_igniter {
        ao_igniter_main = 1
 };
 
-struct ao_adc ao_adc_static;
+struct ao_data ao_data_static;
 
 int    drogue_height;
 double drogue_time;
@@ -124,7 +126,7 @@ static int32_t      ao_k_height;
 void
 ao_ignite(enum ao_igniter igniter)
 {
-       double time = (double) (ao_adc_static.tick + tick_offset) / 100;
+       double time = (double) (ao_data_static.tick + tick_offset) / 100;
 
        if (igniter == ao_igniter_drogue) {
                drogue_time = time;
@@ -221,8 +223,8 @@ int ao_sample_prev_tick;
 uint16_t       prev_tick;
 
 #include "ao_kalman.c"
-#include "ao_sample.c"
-#include "ao_flight.c"
+#include "ao_sample_mm.c"
+#include "ao_flight_mm.c"
 
 #define to_double(f)   ((f) / 65536.0)
 
@@ -282,19 +284,19 @@ ao_insert(void)
 {
        double  time;
 
-       ao_adc_ring[ao_adc_head] = ao_adc_static;
-       ao_adc_head = ao_adc_ring_next(ao_adc_head);
+       ao_data_ring[ao_data_head] = ao_data_static;
+       ao_data_head = ao_data_ring_next(ao_data_head);
        if (ao_flight_state != ao_flight_startup) {
-               double  height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
-               double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
+               double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+               double  accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) /
                        (ao_config.accel_minus_g - ao_config.accel_plus_g);
 
                if (!tick_offset)
-                       tick_offset = -ao_adc_static.tick;
-               if ((prev_tick - ao_adc_static.tick) > 0x400)
+                       tick_offset = -ao_data_static.tick;
+               if ((prev_tick - ao_data_static.tick) > 0x400)
                        tick_offset += 65536;
-               prev_tick = ao_adc_static.tick;
-               time = (double) (ao_adc_static.tick + tick_offset) / 100;
+               prev_tick = ao_data_static.tick;
+               time = (double) (ao_data_static.tick + tick_offset) / 100;
 
                if (ao_test_max_height < height) {
                        ao_test_max_height = height;
@@ -474,7 +476,7 @@ int16(uint8_t *bytes, int off)
 void
 ao_sleep(void *wchan)
 {
-       if (wchan == &ao_adc_head) {
+       if (wchan == &ao_data_head) {
                char            type;
                uint16_t        tick;
                uint16_t        a, b;
@@ -490,7 +492,7 @@ ao_sleep(void *wchan)
                for (;;) {
                        if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
                        {
-                               ao_adc_static.accel = ao_flight_ground_accel;
+                               ao_data_static.adc.accel = ao_flight_ground_accel;
                                ao_insert();
                                return;
                        }
@@ -501,7 +503,7 @@ ao_sleep(void *wchan)
                                                printf ("no more data, exiting simulation\n");
                                        ao_test_exit();
                                }
-                               ao_adc_static.tick += 10;
+                               ao_data_static.tick += 10;
                                ao_insert();
                                return;
                        }
@@ -639,19 +641,19 @@ ao_sleep(void *wchan)
                        case 'S':
                                break;
                        case 'A':
-                               ao_adc_static.tick = tick;
-                               ao_adc_static.accel = a;
-                               ao_adc_static.pres_real = b;
+                               ao_data_static.tick = tick;
+                               ao_data_static.adc.accel = a;
+                               ao_data_static.adc.pres_real = b;
                                if (b < AO_MIN_BARO_VALUE)
                                        b = AO_MIN_BARO_VALUE;
-                               ao_adc_static.pres = b;
+                               ao_data_static.adc.pres = b;
                                ao_records_read++;
                                ao_insert();
                                return;
                        case 'T':
-                               ao_adc_static.tick = tick;
-                               ao_adc_static.temp = a;
-                               ao_adc_static.v_batt = b;
+                               ao_data_static.tick = tick;
+                               ao_data_static.adc.temp = a;
+                               ao_data_static.adc.v_batt = b;
                                break;
                        case 'D':
                        case 'G':